/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "OLED.h"
#include "stdio.h"

#include "string.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
short Encode1Count;
short Encode2Count;
short LASTEncode1Count = 0;
float  Motor1Speed ;
float  Motor2Speed ;
float  Motor1Speed2;
char message[]="";
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
#define CHANNELS 3
uint16_t ADC_Value[CHANNELS];

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
int GetTraceDate();
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
float ADCVALUE1,ADCVALUE2,ADCVALUE3;
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
volatile  uint32_t tmp =0;
uint32_t i=0;	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM4_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,GPIO_PIN_RESET);
  OLED_Init();
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1 );
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4 );
//	HAL_TIM_Base_Start (&htim3 );
//    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_ALL);
//	HAL_ADC_Start_DMA (&hadc1 ,(uint32_t *)ADC_Value ,CHANNELS );
//	HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_ALL );
//	HAL_TIM_Base_Start_IT(&htim2);
//  HAL_TIM_PWM_Start (&htim2,TIM_CHANNEL_ALL);
  HAL_TIM_Base_Start (&htim3);
  HAL_ADC_Start_DMA (&hadc1 ,(uint32_t *)ADC_Value , CHANNELS);
	HAL_TIM_Encoder_Start (&htim2,TIM_CHANNEL_ALL);
	HAL_TIM_Base_Start_IT (&htim2);
//	HAL_TIM_PWM_Start (&htim3,TIM_CHANNEL_ALL);
	HAL_TIM_Encoder_Start (&htim4,TIM_CHANNEL_ALL);
	HAL_TIM_Base_Start_IT (&htim4);

//  HAL_ADC_Start_DMA (&hadc1 ,(uint32_t *)ADC_Value , CHANNELS);//sizeof(ADC_Value)/sizeof(ADC_Value[0]) 
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  { 
	  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1 ,500+GetTraceDate());
		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4 ,500+GetTraceDate());
		
	 Encode1Count  = (short)__HAL_TIM_GET_COUNTER (&htim2);
	 Encode2Count  = (short)__HAL_TIM_GET_COUNTER (&htim4);
	 Motor1Speed = (float)Encode1Count *600/35/11/4;
	 Motor2Speed = (float)Encode2Count *600/35/11/4;
	 OLED_ShowNum(2, 1, Motor1Speed , 3);	
   OLED_ShowNum(3, 1, Motor2Speed , 3);	
		OLED_ShowNum(1,1,(uint32_t )ADCVALUE1,3);
	 __HAL_TIM_SET_COUNTER (&htim2,0);
   __HAL_TIM_SET_COUNTER (&htim4,0);			
//	OLED_ShowNum(1,1,(uint32_t )ADCVALUE1,3);
		
//	Motor1Speed = (float)Encode1Count *10/35/11/4;
//		sprintf (message,"counter:%f",Motor1Speed);
//		HAL_UART_Transmit (&huart1 ,(uint8_t *)message ,strlen(message),100);
		HAL_Delay (100);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
{  ADCVALUE1=(float)ADC_Value[0]*330/4096;
   ADCVALUE2=(float)ADC_Value[1]*330/4096;
   ADCVALUE3=(float)ADC_Value[2]*330/4096;
//	OLED_ShowNum(1,1,(uint32_t )ADCVALUE1,3);
//	OLED_ShowNum(2,1,(uint32_t )ADCVALUE2,6);
//	OLED_ShowNum(3,1,(uint32_t )ADCVALUE3,6);
}
//???????????
//???:int??,?????????,?????????????
int GetTraceDate()
{
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	int D_AD_VALUE;//D_AD_VALUE=Left_AD-Right_AD
	int LEFT_THERSH,RIGHT_THERSH;
	int LEFT_MAX,RIGHT_MAX;
	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	int Data_Out;//????????
	int Left_AD,Right_AD,Mid_AD;//????????AD???
	Left_AD=ADCVALUE1;
 	Mid_AD=ADCVALUE2;
	Right_AD=ADCVALUE3;
	Data_Out=(Left_AD-Right_AD+D_AD_VALUE);
	if((Data_Out>0)&&(Mid_AD<LEFT_THERSH))
	{	
		Data_Out=(2*LEFT_MAX-Left_AD)*2;
	} 
	else if((Data_Out<0)&&(Mid_AD<RIGHT_THERSH))
	{
		Data_Out=(Right_AD-2*RIGHT_MAX)*2;
	}
	return Data_Out;
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
